| 摘要 |
PROBLEM TO BE SOLVED: To prevent excessive loosening or tightening of a torch cable, and interference by a wire feeder. SOLUTION: A first wrist element 11 is provided on a tip of a front arm base part 10 of a robot 1 rotatably around the axis A, a second wrist element 12 is provided on the first wrist element 11 rotatably around the second axis B, and a welding torch 2 is rotatably supported by the second wrist element 12 via a transmission mechanism 13 substantially orthogonal to the axis B and around the line C separate from the axis A by a predetermined distance. A wire feeder 4 is installed on a part other than a front arm (such as on a loading table 8, an upper arm and a turning barrel). A torch cable 3 is mounted on a slider 6b which is movably mounted on an intermediate mounting part 3a along the direction substantially parallel to the first axis A. A wire 81 connected to a tension generator 80 is returned by a block 82, and the slider 6b may be pulled backwardly. In place of the mounting part 3a, an intermediate guide part is provided, and the torch cable 3 may be movably guided along the direction substantially parallel to the first axis A. COPYRIGHT: (C)2006,JPO&NCIPI
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